/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University
* of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef OPTIMIZER_H
#define OPTIMIZER_H

#include "Map.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "LoopClosing.h"
#include "Frame.h"

#include <Eigen/Core>
#include <Eigen/StdVector>

#include <g2o/types/sim3/types_seven_dof_expmap.h>

#include <map>
#include <set>

namespace SIVO {

class LoopClosing;

class Optimizer {
 public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    void static BundleAdjustment(const std::vector<KeyFrame *> &vpKF,
                                 const std::vector<MapPoint *> &vpMP,
                                 int nIterations = 5,
                                 bool *pbStopFlag = nullptr,
                                 const unsigned long nLoopKF = 0ul,
                                 const bool bRobust = true);
    void static GlobalBundleAdjustment(Map *pMap,
                                       int nIterations = 5,
                                       bool *pbStopFlag = nullptr,
                                       const unsigned long nLoopKF = 0ul,
                                       const bool bRobust = true);
    void static LocalBundleAdjustment(KeyFrame *pKF,
                                      bool *pbStopFlag,
                                      Map *pMap);
    int static PoseOptimization(Frame *pFrame);

    // if bFixScale is true, 6DoF optimization (stereo, rgbd), 7DoF otherwise
    // (mono)
    void static OptimizeEssentialGraph(
      Map *pMap,
      KeyFrame *pLoopKF,
      KeyFrame *pCurKF,
      const LoopClosing::KeyFrameAndPose &NonCorrectedSim3,
      const LoopClosing::KeyFrameAndPose &CorrectedSim3,
      const std::map<KeyFrame *, std::set<KeyFrame *>> &LoopConnections,
      const bool &bFixScale);

    // if bFixScale is true, optimize SE3 (stereo,rgbd), Sim3 otherwise (mono)
    static int OptimizeSim3(KeyFrame *pKF1,
                            KeyFrame *pKF2,
                            std::vector<MapPoint *> &vpMatches1,
                            g2o::Sim3 &g2oS12,
                            const float th2,
                            const bool bFixScale);
};

}  // namespace ORB_SLAM

#endif  // OPTIMIZER_H
